Lingyuan Yang

Mobile robot control / Embedded system

Associate scientist at ABB corporate research

M.Sc at KTH / TU Berlin

Robotics projects & experience

Low-level controller for a non-holonomic omnidirectional mobile robot platform with 4 independent steerable wheels

Given the odometry data and LiDAR sensor data, mapping with occupancy grid map.

Given a map and LiDAR sensor data, estimates the position and orientation of the mobile robot recursively

Implemented a improved RRT algorithm in Robotics Library, result in better performance

Embedded Software Development

Embedded qp solver(Convex optimization)

Implemented 3 Convex optimization algorithms on embedded device to solve quadratic programming problem

  • Gradient decent for unbounded qp
  • Newton method for unbounded qp
  • ADMM for linear inequality constraint qp

8-core Image processing: RGB image to ascii image

Implemented a image processing program in pipeline structure on Altera Nios II 8-core SOC.

Which take a RGB image, do edge detection and transfer it to ASCII image.